エネルギー回生振動制御のための調和入力を用いたモデル予測制御器への外乱モデルの導入

Abstract

The authors proposed a model predictive control method for energy regenerative active vibration control systems. The control input of this method is composed of a linear sum of harmonic functions to reduce computational costs and this approach gives a simple way to predict the time averaged regenerated power. However, the predicted averaged power tends to be smaller than the actual averaged power because the disturbance input is ignored in the prediction process. In this paper, a modified predictive controller that uses a harmonic disturbance model and a minimal order observer to estimate and consider the disturbance input in the prediction process is proposed. Numerical simulations of a single degree of freedom (SDOF) system with the proposed controller show that the modified controller can improve the prediction quality of the time averaged regenerated power in the following cases. These are the cases that the type of the disturbance is sinusoidal input whose frequency is the natural frequency of the SDOF system or random input whose amplitude is small enough to satisfy control input constraint.